CN113361035A - Analog simulation method and device for four-wheel steering system and computer storage medium - Google Patents
Analog simulation method and device for four-wheel steering system and computer storage medium Download PDFInfo
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Abstract
The embodiment of the application discloses an analog simulation method and device of a four-wheel steering system and a computer storage medium, and belongs to the technical field of analog simulation. The method comprises the following steps: a steering rack part is established in a whole automobile model of the automobile through an ADASM application program, a four-wheel steering system model is established in an Amesim application program, the whole automobile model is established according to an entity structure of the automobile, and the steering rack part is used for controlling the steering of the rear wheels of the automobile; according to the steering rack part, the whole vehicle model and the four-wheel steering system model are associated in an Amesim application program; and performing analog simulation on the four-wheel steering system of the automobile according to the whole automobile model and the four-wheel steering system model. According to the simulation method and the simulation system, the four-wheel steering system of the automobile is simulated through the ADASM application program and the Amesim application program in a combined mode, and the steering rack part for controlling the steering of the rear wheels is arranged in the whole automobile model, so that the simulation reliability of the four-wheel steering system is improved.
Description
Technical Field
The embodiment of the application relates to the technical field of analog simulation, in particular to an analog simulation method and device for a four-wheel steering system and a computer storage medium.
Background
Four-wheel steering means that four wheels can deflect relative to a vehicle body simultaneously according to signals such as front wheels or driving speed in the steering process of the vehicle. The rear wheel of the four-wheel steering automobile can deflect in the same direction as the front wheel and also can deflect in the opposite direction, and when the front wheel and the rear wheel deflect in the same direction, the stability and the safety of high-speed running of the automobile can be improved; when the front wheels and the rear wheels deflect reversely, the steering diameter of the vehicle can be reduced, so that the passing performance of the vehicle is better. Therefore, the four-wheel steering system of the automobile has a large influence on the performance of the automobile. Therefore, in the design stage of the whole vehicle, in order to ensure good performance of the whole vehicle, analog simulation is generally required to be performed on the four-wheel steering system of the vehicle.
Currently, the ADAMS application program can be used to perform analog simulation on the four-wheel steering system of an automobile, or the ADAMS application program and MATLAB are used to jointly simulate the four-wheel steering system of an automobile.
However, because only a front wheel steering system model can be built in the ADAMS application program and a rear wheel steering system cannot be built, the simulation of the four-wheel steering system cannot be performed, and the model built by the MATLAB application program is a mathematical model and cannot be expanded to an external steering motor physical model, so that the motor model selection cannot be performed, and the simulation of the four-wheel steering system has limitations.
Disclosure of Invention
The embodiment of the application provides an analog simulation method and device of a four-wheel steering system and a computer storage medium, which can solve the problem of limitation in analog simulation of the four-wheel steering system in the related art. The technical scheme is as follows:
in one aspect, a method for simulating a four-wheel steering system is provided, the method comprising:
the method comprises the steps that a steering rack part is created in a whole automobile model of an automobile through an ADASM application program of mechanical system dynamics automatic analysis, a four-wheel steering system model is built in an Amesim application program of a complex system modeling simulation platform in the multidisciplinary field, the whole automobile model is built according to the entity structure of the automobile, and the steering rack part is used for controlling the rear wheel steering of the automobile;
associating the entire vehicle model with the four-wheel steering system model in the Amesim application program according to the steering rack part;
and performing analog simulation on the four-wheel steering system of the automobile according to the whole automobile model and the four-wheel steering system model.
In some embodiments, the creating a steering rack portion in a full body model of an automobile by an automated analysis of mechanical system dynamics application includes:
the whole vehicle model is built in the ADASM application program;
a steering rack portion is created in a rear suspension model of the full vehicle model.
In some embodiments, said creating a steering rack portion in a rear suspension model of said full vehicle model comprises:
sequentially creating a rack housing portion and a rack portion of the steering rack portion;
fixing the gear shell part on a sub-frame model in the rear suspension model through a fixing pair;
establishing a sliding pair between the rack portion and the pinion housing portion;
establishing a constant velocity pair between the rack portion and a tie rod inner point model of the rear suspension model;
a bushing is established between the shell portion and the subframe model.
In some embodiments, said associating said full vehicle model with said four wheel steering system model in said Amesim application according to said steering rack portion comprises:
processing the whole vehicle model in the ADASM application program according to the steering rack part to obtain a first calling file corresponding to the whole vehicle model;
and in the Amesim application program, associating a first calling file corresponding to the whole vehicle model with the four-wheel steering system model.
In some embodiments, the processing the entire vehicle model in the ADASM application program according to the steering rack portion to obtain a first call file corresponding to the entire vehicle model includes:
setting an input variable and an output variable of the whole vehicle model in the ADASM application program, wherein the output variable of the whole vehicle model is the input variable of the four-wheel steering system model, and the output variable of the whole vehicle model comprises a variable of the steering rack part;
creating a drive control file of the whole automobile model, wherein the drive control file is used for describing control parameters in the driving process of the automobile;
simulating the drive control file to obtain a second calling file with a specified format;
and exporting the whole vehicle model from the ADASM application program according to the second calling file to obtain the first calling file, wherein the file prefix of the first calling file is the same as the name of the second calling file.
In some embodiments, the associating, in the Amesim application, the first call file corresponding to the entire vehicle model with the four-wheel steering system model includes:
setting a standard communication module in the Amesim application program, wherein the standard communication module is a module for enabling all the functional modules to communicate;
compiling the first calling file through the Amesim application program to obtain a third calling file;
replacing the standard communication module with the third calling file to associate the third calling file with the four-wheel steering system model.
In some embodiments, before associating the full vehicle model with the four-wheel steering system model in the Amesim application according to the steering rack portion, the method further includes:
an ESP system model is externally connected to the whole vehicle model and used for driving the whole vehicle model;
and setting a system state variable in the ADASM application program, wherein the system state variable is used for indicating that the variables of the parameters used in the ADASM application program and the Amesim application program are unified in a unit system.
In another aspect, there is provided an analog simulation apparatus of a four-wheel steering system, the apparatus including:
the system comprises a building module, a control module and a control module, wherein the building module is used for building a steering rack part in a whole automobile model of an automobile through an ADASM application program of mechanical system dynamics automatic analysis, and building a four-wheel steering system model in an Amesim application program of a complex system modeling simulation platform in the multidisciplinary field, the whole automobile model is built according to the entity structure of the automobile, and the steering rack part is used for controlling the steering of the rear wheels of the automobile;
the association module is used for associating the whole vehicle model with the four-wheel steering system model in the Amesim application program according to the steering rack part;
and the simulation module is used for carrying out simulation on the four-wheel steering system of the automobile according to the whole automobile model and the four-wheel steering system model.
In some embodiments, the construction module comprises:
the construction submodule is used for constructing the whole vehicle model in the ADASM application program;
a creating sub-module for creating a steering rack portion in a rear suspension model of the full vehicle model.
In some embodiments, the creation submodule is to:
sequentially creating a rack housing portion and a rack portion of the steering rack portion;
fixing the gear shell part on a sub-frame model in the rear suspension model through a fixing pair;
establishing a sliding pair between the rack portion and the pinion housing portion;
establishing a constant velocity pair between the rack portion and a tie rod inner point model of the rear suspension model;
a bushing is established between the shell portion and the subframe model.
In some embodiments, the association module comprises:
the processing submodule is used for processing the whole vehicle model in the ADASM application program according to the steering rack part to obtain a first calling file corresponding to the whole vehicle model;
and the association submodule is used for associating a first calling file corresponding to the whole vehicle model with the four-wheel steering system model in the Amesim application program.
In some embodiments, the processing submodule is to:
setting an input variable and an output variable of the whole vehicle model in the ADASM application program, wherein the output variable of the whole vehicle model is the input variable of the four-wheel steering system model, and the output variable of the whole vehicle model comprises a variable of the steering rack part;
creating a drive control file of the whole automobile model, wherein the drive control file is used for describing control parameters in the driving process of the automobile;
simulating the drive control file to obtain a second calling file with a specified format;
and exporting the whole vehicle model from the ADASM application program according to the second calling file to obtain the first calling file, wherein the file prefix of the first calling file is the same as the name of the second calling file.
In some embodiments, the association submodule is to:
setting a standard communication module in the Amesim application program, wherein the standard communication module is a module for enabling all the functional modules to communicate;
compiling the first calling file through the Amesim application program to obtain a third calling file;
replacing the standard communication module with the third calling file to associate the third calling file with the four-wheel steering system model.
In some embodiments, the apparatus further comprises:
the external module is used for externally connecting an ESP system model to the whole vehicle model, and the ESP system model is used for driving the whole vehicle model;
and the setting module is used for setting a system state variable in the ADASM application program, wherein the system state variable is used for indicating that the variables of the parameters used in the ADASM application program and the Amesim application program are unified in a unit system.
In another aspect, a computer-readable storage medium is provided, which has instructions stored thereon, and when executed by a processor, implements any one of the steps of the simulation method of the four-wheel steering system described above.
The beneficial effects brought by the technical scheme provided by the embodiment of the application at least comprise:
in the embodiment of the application, the four-wheel steering system of the automobile can be simulated jointly through the ADASM application program and the Amesim application program, and as the complete automobile power model is included in the joint simulation process and the steering rack part for controlling the steering of the rear wheels is arranged in the automobile model, the simulation of the rear wheels of the automobile in the simulation process is ensured, and the simulation reliability of the four-wheel steering system is improved.
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In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic diagram of an implementation environment provided by an embodiment of the present application;
FIG. 2 is a flow chart of a simulation method for a four-wheel steering system according to an embodiment of the present disclosure;
FIG. 3 is a flow chart of a simulation method for a four-wheel steering system according to an embodiment of the present disclosure;
fig. 4 is a schematic structural diagram of an analog simulation device of a four-wheel steering system according to an embodiment of the present application;
figure 5 is a schematic structural diagram of a building module according to an embodiment of the present application;
fig. 6 is a schematic structural diagram of an association module according to an embodiment of the present disclosure;
fig. 7 is a schematic structural diagram of an analog simulation device of a four-wheel steering system according to an embodiment of the present application;
fig. 8 is a schematic structural diagram of a terminal according to an embodiment of the present application.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present application more clear, the embodiments of the present application will be further described in detail with reference to the accompanying drawings.
Before explaining the simulation method of the four-wheel steering system provided in the embodiment of the present application in detail, an application scenario and an implementation environment provided in the embodiment of the present application are explained in detail.
First, an application scenario provided in the embodiment of the present application is explained.
The four-wheel steering system of the automobile has a great influence on the performance of the automobile. Therefore, in the design stage of the whole vehicle, in order to ensure good performance of the whole vehicle, the four-wheel steering system of the vehicle can be simulated through an ADAMS application program in an analog manner, or the four-wheel steering system of the vehicle can be simulated through the ADAMS application program and MATLAB in a combined manner. However, because only a front wheel steering system model can be built in the ADAMS application program and a rear wheel steering system cannot be built, the simulation of the four-wheel steering system cannot be performed, and the model built by the MATLAB application program is a mathematical model and cannot be expanded to an external steering motor physical model, so that the motor model selection cannot be performed, and the simulation of the four-wheel steering system has limitations.
Based on the application scene, the embodiment of the application provides the simulation method of the four-wheel steering system, which can improve the simulation reliability of the four-wheel steering system.
Next, an implementation environment provided in the embodiments of the present application is explained.
Fig. 1 is a schematic diagram of an implementation environment provided by an embodiment of the present application, and referring to fig. 1, the analog simulation method of the four-wheel steering system is applied to a terminal, the terminal can be installed with an ADASM application 1 and an Amesim application 2, the ADASM application 1 can include an Acar application, and both the ADASM application and the Amesim application 2 are applications capable of performing analog simulation.
The ADASM application program 1 can build a whole vehicle model (also called a whole vehicle dynamic model) of the vehicle, the Amesim application program 2 can build a four-wheel steering system model of the vehicle, and the terminal can associate the ADASM application program 1 with the Amesim application program 2, so that the combined simulation of the four-wheel steering system of the vehicle is realized.
Fig. 2 is a flowchart of a simulation method for a four-wheel steering system according to an embodiment of the present disclosure, where the simulation method for the four-wheel steering system may include the following steps:
step 201: a steering rack part is created in a whole automobile model of the automobile through an ADASM application program of mechanical system dynamics automatic analysis, a four-wheel steering system model is built in an Amesim application program of a complex system modeling simulation platform in the multidisciplinary field, the whole automobile model is built according to the entity structure of the automobile, and the steering rack part is used for controlling the rear wheel steering of the automobile.
Step 202: and according to the steering rack part, correlating the whole vehicle model with the four-wheel steering system model in the Amesim application program.
Step 203: and performing analog simulation on the four-wheel steering system of the automobile according to the whole automobile model and the four-wheel steering system model.
In the embodiment of the application, the four-wheel steering system of the automobile can be simulated jointly through the ADASM application program and the Amesim application program, and as the complete automobile power model is included in the joint simulation process and the steering rack part for controlling the steering of the rear wheels is arranged in the automobile model, the simulation of the rear wheels of the automobile in the simulation process is ensured, and the simulation reliability of the four-wheel steering system is improved.
In some embodiments, creating a steering rack portion in a full body model of an automobile by an automated analysis of mechanical system dynamics (ADASM) application includes:
the whole vehicle model is built in the ADASM application program;
a steering rack portion is created in a rear suspension model of the full vehicle model.
In some embodiments, creating a steering rack portion in a rear suspension model of the full vehicle model includes:
sequentially creating a rack housing portion and a rack portion in the steering rack portion;
fixing the gear shell part on a sub-frame model in the rear suspension model through a fixing pair;
establishing a sliding pair between the rack portion and the pinion housing portion;
establishing a constant velocity pair between the rack portion and a tie rod inner point model of the rear suspension model;
a bushing is established between the shell portion and the subframe model.
In some embodiments, associating the full vehicle model with the four-wheel steering system model in the Amesim application according to the steering rack portion includes:
processing the whole vehicle model in the ADASM application program according to the steering rack part to obtain a first calling file corresponding to the whole vehicle model;
and in the Amesim application program, associating a first calling file corresponding to the whole vehicle model with the four-wheel steering system model.
In some embodiments, processing the entire vehicle model in the ADASM application program according to the steering rack portion to obtain a first call file corresponding to the entire vehicle model includes:
setting an input variable and an output variable of the whole vehicle model in the ADASM application program, wherein the output variable of the whole vehicle model is the input variable of the four-wheel steering system model, and the output variable of the whole vehicle model comprises a variable of the steering rack part;
creating a drive control file of the whole automobile model, wherein the drive control file is used for describing control parameters in the driving process of the automobile;
simulating the drive control file to obtain a second calling file with a specified format;
and exporting the whole vehicle model from the ADASM application program according to the second calling file to obtain the first calling file, wherein the file prefix of the first calling file is the same as the name of the second calling file.
In some embodiments, in the Amesim application, associating the first call file corresponding to the entire vehicle model with the four-wheel steering system model includes:
setting a standard communication module in the Amesim application program, wherein the standard communication module is a module for enabling all the functional modules to communicate;
compiling the first calling file through the Amesim application program to obtain a third calling file;
and replacing the standard communication module with the third calling file so as to associate the third calling file with the four-wheel steering system model.
In some embodiments, prior to associating the full vehicle model with the four-wheel steering system model in the Amesim application according to the steering rack portion, further comprising:
an ESP system model is externally connected to the whole vehicle model and used for driving the whole vehicle model;
and setting a system state variable in the ADASM application program, wherein the system state variable is used for indicating that the ADASM application program and the parameter variable used in the Amesim application program are unified in a unit system.
All the above optional technical solutions can be combined arbitrarily to form an optional embodiment of the present application, and the present application embodiment is not described in detail again.
Fig. 3 is a flowchart of an analog simulation method of a four-wheel steering system according to an embodiment of the present application, which is exemplified by applying the analog simulation method of the four-wheel steering system to the present application, and the analog simulation method of the four-wheel steering system may include the following steps:
step 301: the terminal creates a steering rack part in a whole automobile model of an automobile through an ADASM application program, and builds a four-wheel steering system model in an Amesim application program.
It should be noted that the entire automobile model is built according to the solid structure of the automobile, the steering rack part is used for controlling the steering of the rear wheels of the automobile, and the steering rack part is a part which does not exist in the solid structure of the automobile originally.
Because only a front wheel steering system model can be built in the ADAMS application program, and the rear wheel steering control of the automobile cannot be realized, in order to realize the control of the steering of the front wheels and the rear wheels of the automobile in the simulation process, the terminal can create a steering rack part in the whole automobile model of the automobile through the ADASM application program.
As an example, the operation of the terminal to create a steering rack portion in a full body model of an automobile through the ADASM application includes: building a whole vehicle model in an ADASM application program; a steering rack portion is created in a rear suspension model of a full vehicle model.
As an example, the terminal can build a complete vehicle model of the vehicle in the ADASM application program through the first specified proportion when receiving the first building instruction. The first designated proportion is a proportion between the physical structure of the automobile and the first entire automobile model, and the first designated proportion can be set in advance according to requirements, for example, the first designated proportion can be 200:1, 400:1 and the like.
In some embodiments, the terminal can build a whole vehicle model of the vehicle in the ADASM application program through the first specified proportion when receiving the first building instruction, and can also obtain the built whole vehicle model of the vehicle from the storage file when receiving the obtaining instruction, and load the obtained whole vehicle model into the ADASM application program to complete building of the whole vehicle model of the vehicle.
It should be noted that the first building instruction and the obtaining instruction can be triggered when a user acts on the display interface of the ADASM application program through a specified operation, where the specified operation can be a click operation, a slide operation, a voice operation, and so on. The whole vehicle model is a whole vehicle power learning model of the vehicle.
In some embodiments, before the terminal builds a complete vehicle model of the vehicle in the ADASM application, the terminal may further receive a first start instruction, and run the ADASM application according to the first start instruction.
It should be noted that the first start instruction can be triggered when the user acts on an identifier of the ADASM application program displayed in the terminal through a specified operation, and the identifier of the ADASM application program can be an image identifier and/or a text identifier.
As an example, the operation of the terminal to create a steering rack portion in a rear suspension model of a full vehicle model includes: sequentially creating a rack housing portion and a rack portion in a steering rack portion; fixing the gear shell part on an auxiliary frame model in a rear suspension model through a fixing pair; establishing a moving pair between the rack portion and the pinion housing portion; establishing a constant velocity pair between the rack part and a pull rod inner point model of the rear suspension model; a bushing is built between the tooth shell portion and the subframe model.
It should be noted that the terminal is capable of displaying the steering rack creation interface and creating the steering rack portion in the steering rack creation interface when receiving the creation instruction.
In some embodiments, the terminal can create the steering rack portion by setting parameters and variables.
In some embodiments, the terminal is further capable of building a four-wheel steering system model in the Amesim application program through a second specified proportion when receiving a second building instruction, the second specified proportion being a proportion between a physical structure of the four-wheel steering system of the automobile and the four-wheel steering system model, the second specified proportion being capable of being set in advance according to requirements, for example, the second specified proportion can be 200: 1. 400:1, etc., the first command ratio can be the same as the second specified ratio, or can be different, but in order to ensure the accuracy and reliability of the simulation, the terminal can set the first command ratio to be the same as the second specified ratio.
It should be noted that the second building instruction can be triggered when the user acts on the Amesim application display interface through a specified operation.
In some embodiments, before the terminal builds the four-wheel steering system of the automobile in the Amesim application program, the terminal can also receive a second starting instruction and operate the Amesim application program according to the second starting instruction.
It should be noted that the second start instruction can be triggered when the user acts on the identifier of the Amesim application program displayed in the terminal through a specified operation, and the identifier of the Amesim application program can be an image identifier and/or a text identifier.
It should be noted that, in the embodiment of the present application, the order of building the entire vehicle model and the four-wheel steering system model by the terminal is not limited.
Step 302: and the terminal associates the whole vehicle model with the four-wheel steering system model in an Amesim application program according to the steering rack part.
In order to realize the joint simulation of the ADASM application program and the Amesim application program on the four-wheel steering system, the terminal can associate the whole vehicle model and the four-wheel steering system model in the Amesim application program according to the steering rack part.
As an example, the operation of the terminal for associating the full vehicle model with the four-wheel steering system model in the Amesim application according to the steering rack portion includes: processing the whole vehicle model in an ADASM application program according to the steering rack part to obtain a first calling file corresponding to the whole vehicle model; in an Amesim application program, a first calling file corresponding to a whole vehicle model is associated with a four-wheel steering system model.
In some embodiments, the operation of processing, by the terminal, the complete vehicle model in the ADASM application program according to the steering rack portion to obtain the first call file corresponding to the complete vehicle model includes: setting an input variable and an output variable of a whole vehicle model in an ADASM application program, wherein the output variable of the whole vehicle model is an input variable of a four-wheel steering system model, and the output variable of the whole vehicle model comprises a variable of a steering rack part; creating a drive control file of the whole automobile model, wherein the drive control file is used for describing control parameters in the driving process of the automobile; simulating the drive control file to obtain a second calling file with a specified format; and according to the second calling file, the whole vehicle model is exported from the ADASM application program to obtain a first calling file, and the file prefix of the first calling file is the same as the name of the second calling file.
It should be noted that the input variables of the entire vehicle model set in the ADASM application program by the terminal include a steering wheel angle and a rear steering rack displacement, and the output variables of the entire vehicle model include an outer wheel center point Y-direction trajectory and an outer wheel center point X-direction trajectory, and may also include output variables corresponding to other output parameters.
In some embodiments, since there can be unit differences between the Amesim application and the ADASM application, when the input variables and the output variables of the entire vehicle model are set in the ADASM application, a system state variable for indicating unification of the unit system of the variables of the parameters used in the ADASM application and the Amesim application can also be created in the ADASM application. For example, a variable indicating parameters used in the ADASM application and the Amesim application performs a conversion in a unit system. For example, transitions between arc, meter and millimeter.
In some embodiments, the terminal is capable of not only creating system state variables in the ADASM application, but also externally attaching an ESP (Electronic Stability Program) system model to the full vehicle model in the ADASM application before associating the full vehicle model with the four-wheel steering system model in the Amesim application, the ESP system model being used to drive the full vehicle model.
As an example, after the ESP system model is externally connected to the terminal, the ESP system model output parameters and the output variables corresponding to the output parameters can be set, for example, the output parameters include a vehicle speed, a yaw rate, a roll angle, and the like, and the output variables include a vehicle speed range, a yaw rate range, a roll angle range, and the like.
In some embodiments, the terminal can create a drive control file when receiving the creation instruction in the ADASM application, where the drive control file can include control parameters of the automobile during driving, such as driving speed, throttle control parameters, steering wheel angle control parameters, and the like.
In some embodiments, the terminal can further set the simulation duration of the drive control file, that is, set the simulation termination time in the drive control file, which is used for determining the maximum effective simulation duration for the joint simulation in the Amesim application. For example, the simulation duration of the drive control file is not less than the simulation duration of the simulation of the four-wheel steering system of the automobile in the Amesim application program.
It should be noted that the designated format may be an acf format, and in order to increase the simulation speed, the terminal sets the simulation mode to the files _ only mode when simulating the drive control file through the entire vehicle model. The first call file can be a file of an FMU (functional model unit) standard interface, that is, the terminal can export the entire vehicle model from the ADASM application program by using the FMU standard interface, thereby obtaining the first call file.
As an example, in an Amesim application, the operation of associating a first call file corresponding to a whole vehicle model with a four-wheel steering system model by the terminal includes: setting a standard communication module in an Amesim application program, wherein the standard communication module is a module for enabling all functional modules to communicate; compiling the first calling file through an Amesim application program to obtain a third calling file; and replacing the standard communication module with a third call file to associate the third call file with the four-wheel steering system model.
It should be noted that the standard communication module can be an FMI (Functional module-up Interface) module, that is, the standard communication module set by the terminal in the Amesim application is an FMI module, and the terminal can create the FMI module through Interface Icon Creation (elementary hydraulic simulation Creation Interface), and set input variables and output variables of the FMI module, where the number of the input variables of the FMI module is at least 2, and the number of the output variables of the FMI module is at least 2. The output variables of the FMI module can include parameters related to objective measurement of vehicle ride comfort, such as lateral acceleration, roll angle, etc.
In some embodiments, the terminal compiles the first call file through an Amesim application program to obtain a third call file, wherein the third call file can be FMI Imported blocks (a FMI-type file); and then replacing the standard communication module with a third call file, namely replacing the FMI module with FMI Imported blocks, so as to associate the third call file with the four-wheel steering system model, namely associating the whole vehicle model with the four-wheel steering system model.
Step 303: and the terminal carries out analog simulation on the four-wheel steering system of the automobile according to the whole automobile model and the four-wheel steering system model.
Because the terminal not only builds a four-wheel steering system model in the Amesim application program, but also builds a whole vehicle model, the terminal can perform analog simulation on the four-wheel steering system of the vehicle according to the four-wheel steering system model and the whole vehicle model in the Amesim application program.
Therefore, when the terminal performs simulation in the Amesim application program, the whole vehicle model can output the variable comprising the steering rack part in the simulation process, and meanwhile, the front wheel steering system model can be built in the whole vehicle model in the ADAMS application program, so that the four-wheel steering system model can control the rear wheels of the vehicle according to the variable comprising the steering rack part, and the front wheels of the vehicle are controlled through the variable output by the front wheel steering system model in the whole vehicle model, thereby realizing the simulation of the front wheels and the rear wheels of the vehicle.
Step 304: and the terminal displays the simulation result in the Amesim application program.
Because the terminal carries out analog simulation on the four-wheel steering system of the automobile in the Amesim application program, after the simulation is finished, the terminal can display the analog simulation result in the Amesim application program.
In the embodiment of the application, the terminal can jointly simulate the four-wheel steering system of the automobile through the ADASM application program and the Amesim application program, and the complete automobile power model is included in the joint simulation process, and the steering rack part for controlling the steering of the rear wheels is arranged in the automobile model, so that the simulation of the front wheels of the automobile and the rear wheels of the automobile can be realized in the simulation process, and the simulation reliability of the four-wheel steering system is improved. Meanwhile, the joint simulation model is strong in reproducibility and expansibility, the corresponding minimum steering diameter can be determined according to different rear wheel steering angles, a basis is provided for designing the maximum steering angle of the rear wheel, a physical model can be established according to the rear wheel steering motor of an actual vehicle product, the model selection of the steering motor, the matching of a steering system and the optimization of an ESP algorithm can be supported, and the application range of the simulation model is expanded.
Fig. 4 is a schematic structural diagram of an analog simulation device of a four-wheel steering system according to an embodiment of the present application, where the analog simulation device of the four-wheel steering system can be implemented by software, hardware, or a combination of the two. The analog simulation device of the four-wheel steering system may include: a building module 401, an association module 402 and a simulation module 403.
The building module 401 is used for building a steering rack part in a whole automobile model of an automobile through an ADASM application program of mechanical system dynamics automatic analysis, and building a four-wheel steering system model in an Amesim application program of a complex system modeling simulation platform in the multidisciplinary field, wherein the whole automobile model is built according to the entity structure of the automobile, and the steering rack part is used for controlling the steering of the rear wheels of the automobile;
an association module 402, configured to associate the entire vehicle model with the four-wheel steering system model in the Amesim application according to the steering rack portion;
and the simulation module 403 is configured to perform simulation on the four-wheel steering system of the automobile according to the entire automobile model and the four-wheel steering system model.
In some embodiments, referring to fig. 5, the building module 401 comprises:
a building submodule 4011, configured to build the whole vehicle model in the ADASM application program;
a creating sub-module 4012 for creating a steering rack portion in a rear suspension model of the full vehicle model.
In some embodiments, the create sub-module 4012 is configured to:
sequentially creating a rack housing portion and a rack portion of the steering rack portion;
fixing the gear shell part on a sub-frame model in the rear suspension model through a fixing pair;
establishing a sliding pair between the rack portion and the pinion housing portion;
establishing a constant velocity pair between the rack portion and a tie rod inner point model of the rear suspension model;
a bushing is established between the shell portion and the subframe model.
In some embodiments, referring to fig. 6, the associating module 402 comprises:
the processing submodule 4021 is configured to process the entire vehicle model in the ADASM application program according to the steering rack portion to obtain a first call file corresponding to the entire vehicle model;
and the association submodule 4022 is configured to associate a first call file corresponding to the whole vehicle model with the four-wheel steering system model in the Amesim application program.
In some embodiments, the processing sub-module 4021 is configured to:
setting an input variable and an output variable of the whole vehicle model in the ADASM application program, wherein the output variable of the whole vehicle model is the input variable of the four-wheel steering system model, and the output variable of the whole vehicle model comprises a variable of the steering rack part;
creating a drive control file of the whole automobile model, wherein the drive control file is used for describing control parameters in the driving process of the automobile;
simulating the drive control file to obtain a second calling file with a specified format;
and exporting the whole vehicle model from the ADASM application program according to the second calling file to obtain the first calling file, wherein the file prefix of the first calling file is the same as the name of the second calling file.
In some embodiments, the association sub-module 4022 is configured to:
setting a standard communication module in the Amesim application program, wherein the standard communication module is a module for enabling all the functional modules to communicate;
compiling the first calling file through the Amesim application program to obtain a third calling file;
replacing the standard communication module with the third calling file to associate the third calling file with the four-wheel steering system model.
In some embodiments, referring to fig. 7, the apparatus further comprises:
an external module 404, configured to externally connect an ESP system model to the entire vehicle model, where the ESP system model is used to drive the entire vehicle model;
a setting module 405, configured to set a system state variable in the ADASM application, where the system state variable is used to indicate that the variables of the parameters used in the ADASM application and the Amesim application are unified in a unit system.
In the embodiment of the application, the terminal can jointly simulate the four-wheel steering system of the automobile through the ADASM application program and the Amesim application program, and the complete automobile power model is included in the joint simulation process, and the steering rack part for controlling the steering of the rear wheels is arranged in the automobile model, so that the simulation of the front wheels of the automobile and the rear wheels of the automobile can be realized in the simulation process, and the simulation reliability of the four-wheel steering system is improved. Meanwhile, the joint simulation model is strong in reproducibility and expansibility, the corresponding minimum steering diameter can be determined according to different rear wheel steering angles, a basis is provided for designing the maximum steering angle of the rear wheel, a physical model can be established according to the rear wheel steering motor of an actual vehicle product, the model selection of the steering motor, the matching of a steering system and the optimization of an ESP algorithm can be supported, and the application range of the simulation model is expanded.
It should be noted that: the simulation device for a four-wheel steering system provided in the above embodiment is only illustrated by dividing the above functional modules when performing simulation of the four-wheel steering system, and in practical applications, the above functions may be distributed by different functional modules according to needs, that is, the internal structure of the device may be divided into different functional modules to complete all or part of the above described functions. In addition, the analog simulation device of the four-wheel steering system and the analog simulation method of the four-wheel steering system provided by the above embodiments belong to the same concept, and the specific implementation process thereof is detailed in the method embodiments and will not be described herein.
Fig. 8 shows a block diagram of a terminal 800 according to an exemplary embodiment of the present application. The terminal 800 may be: a smart phone, a tablet computer, an MP3 player (Moving Picture Experts Group Audio Layer III, motion video Experts compression standard Audio Layer 3), an MP4 player (Moving Picture Experts Group Audio Layer IV, motion video Experts compression standard Audio Layer 4), a notebook computer, or a desktop computer. The terminal 800 may also be referred to by other names such as user equipment, portable terminal, laptop terminal, desktop terminal, etc.
In general, the terminal 800 includes: a processor 801 and a memory 802.
The processor 801 may include one or more processing cores, such as a 4-core processor, an 8-core processor, and so forth. The processor 801 may be implemented in at least one hardware form of a DSP (Digital Signal Processing), an FPGA (Field-Programmable Gate Array), and a PLA (Programmable Logic Array). The processor 801 may also include a main processor and a coprocessor, where the main processor is a processor for Processing data in an awake state, and is also called a Central Processing Unit (CPU); a coprocessor is a low power processor for processing data in a standby state. In some embodiments, the processor 801 may be integrated with a GPU (Graphics Processing Unit) which is responsible for rendering and drawing the content required to be displayed by the display screen. In some embodiments, the processor 801 may further include an AI (Artificial Intelligence) processor for processing computing operations related to machine learning.
In some embodiments, the terminal 800 may further include: a peripheral interface 803 and at least one peripheral. The processor 801, memory 802 and peripheral interface 803 may be connected by bus or signal lines. Various peripheral devices may be connected to peripheral interface 803 by a bus, signal line, or circuit board. Specifically, the peripheral device includes: at least one of a radio frequency circuit 804, a display screen 805, a camera assembly 806, an audio circuit 807, a positioning assembly 808, and a power supply 809.
The peripheral interface 803 may be used to connect at least one peripheral related to I/O (Input/Output) to the processor 801 and the memory 802. In some embodiments, the processor 801, memory 802, and peripheral interface 803 are integrated on the same chip or circuit board; in some other embodiments, any one or two of the processor 801, the memory 802, and the peripheral interface 803 may be implemented on separate chips or circuit boards, which are not limited by this embodiment.
The Radio Frequency circuit 804 is used for receiving and transmitting RF (Radio Frequency) signals, also called electromagnetic signals. The radio frequency circuitry 804 communicates with communication networks and other communication devices via electromagnetic signals. The rf circuit 804 converts an electrical signal into an electromagnetic signal to be transmitted, or converts a received electromagnetic signal into an electrical signal. Optionally, the radio frequency circuit 804 includes: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a subscriber identity module card, and so forth. The radio frequency circuit 804 may communicate with other terminals via at least one wireless communication protocol. The wireless communication protocols include, but are not limited to: metropolitan area networks, various generation mobile communication networks (2G, 3G, 4G, and 5G), Wireless local area networks, and/or WiFi (Wireless Fidelity) networks. In some embodiments, the radio frequency circuit 804 may further include NFC (Near Field Communication) related circuits, which are not limited in this application.
The display screen 805 is used to display a UI (User Interface). The UI may include graphics, text, icons, video, and any combination thereof. When the display 805 is a touch display, the display 805 also has the ability to capture touch signals on or above the surface of the display 805. The touch signal may be input to the processor 801 as a control signal for processing. At this point, the display 805 may also be used to provide virtual buttons and/or a virtual keyboard, also referred to as soft buttons and/or a soft keyboard. In some embodiments, the display 805 may be one, providing the front panel of the terminal 800; in other embodiments, the display 805 may be at least two, respectively disposed on different surfaces of the terminal 800 or in a folded design; in other embodiments, the display 805 may be a flexible display disposed on a curved surface or a folded surface of the terminal 800. Even further, the display 805 may be arranged in a non-rectangular irregular pattern, i.e., a shaped screen. The Display 805 can be made of LCD (Liquid Crystal Display), OLED (Organic Light-Emitting Diode), and other materials.
The camera assembly 806 is used to capture images or video. Optionally, camera assembly 806 includes a front camera and a rear camera. Generally, a front camera is disposed at a front panel of the terminal, and a rear camera is disposed at a rear surface of the terminal. In some embodiments, the number of the rear cameras is at least two, and each rear camera is any one of a main camera, a depth-of-field camera, a wide-angle camera and a telephoto camera, so that the main camera and the depth-of-field camera are fused to realize a background blurring function, and the main camera and the wide-angle camera are fused to realize panoramic shooting and VR (Virtual Reality) shooting functions or other fusion shooting functions. In some embodiments, camera assembly 806 may also include a flash. The flash lamp can be a monochrome temperature flash lamp or a bicolor temperature flash lamp. The double-color-temperature flash lamp is a combination of a warm-light flash lamp and a cold-light flash lamp, and can be used for light compensation at different color temperatures.
The audio circuit 807 may include a microphone and a speaker. The microphone is used for collecting sound waves of a user and the environment, converting the sound waves into electric signals, and inputting the electric signals to the processor 801 for processing or inputting the electric signals to the radio frequency circuit 804 to realize voice communication. For the purpose of stereo sound collection or noise reduction, a plurality of microphones may be provided at different portions of the terminal 800. The microphone may also be an array microphone or an omni-directional pick-up microphone. The speaker is used to convert electrical signals from the processor 801 or the radio frequency circuit 804 into sound waves. The loudspeaker can be a traditional film loudspeaker or a piezoelectric ceramic loudspeaker. When the speaker is a piezoelectric ceramic speaker, the speaker can be used for purposes such as converting an electric signal into a sound wave audible to a human being, or converting an electric signal into a sound wave inaudible to a human being to measure a distance. In some embodiments, the audio circuitry 807 may also include a headphone jack.
The positioning component 808 is used to locate the current geographic position of the terminal 800 for navigation or LBS (Location Based Service). The Positioning component 808 may be a Positioning component based on the GPS (Global Positioning System) in the united states, the beidou System in china, the graves System in russia, or the galileo System in the european union.
In some embodiments, terminal 800 also includes one or more sensors 810. The one or more sensors 810 include, but are not limited to: acceleration sensor 811, gyro sensor 812, pressure sensor 813, fingerprint sensor 814, optical sensor 815 and proximity sensor 816.
The acceleration sensor 811 may detect the magnitude of acceleration in three coordinate axes of the coordinate system established with the terminal 800. For example, the acceleration sensor 811 may be used to detect the components of the gravitational acceleration in three coordinate axes. The processor 801 may control the display 805 to display the user interface in a landscape view or a portrait view according to the gravitational acceleration signal collected by the acceleration sensor 811. The acceleration sensor 811 may also be used for acquisition of motion data of a game or a user.
The gyro sensor 812 may detect a body direction and a rotation angle of the terminal 800, and the gyro sensor 812 may cooperate with the acceleration sensor 811 to acquire a 3D motion of the user with respect to the terminal 800. From the data collected by the gyro sensor 812, the processor 801 may implement the following functions: motion sensing (such as changing the UI according to a user's tilting operation), image stabilization at the time of photographing, game control, and inertial navigation.
Pressure sensors 813 may be disposed on the side frames of terminal 800 and/or underneath display 805. When the pressure sensor 813 is disposed on the side frame of the terminal 800, the holding signal of the user to the terminal 800 can be detected, and the processor 801 performs left-right hand recognition or shortcut operation according to the holding signal collected by the pressure sensor 813. When the pressure sensor 813 is disposed at a lower layer of the display screen 805, the processor 801 controls the operability control on the UI interface according to the pressure operation of the user on the display screen 805. The operability control comprises at least one of a button control, a scroll bar control, an icon control and a menu control.
The fingerprint sensor 814 is used for collecting a fingerprint of the user, and the processor 801 identifies the identity of the user according to the fingerprint collected by the fingerprint sensor 814, or the fingerprint sensor 814 identifies the identity of the user according to the collected fingerprint. Upon identifying that the user's identity is a trusted identity, the processor 801 authorizes the user to perform relevant sensitive operations including unlocking a screen, viewing encrypted information, downloading software, paying for and changing settings, etc. Fingerprint sensor 814 may be disposed on the front, back, or side of terminal 800. When a physical button or a vendor Logo is provided on the terminal 800, the fingerprint sensor 814 may be integrated with the physical button or the vendor Logo.
The optical sensor 815 is used to collect the ambient light intensity. In one embodiment, processor 801 may control the display brightness of display 805 based on the ambient light intensity collected by optical sensor 815. Specifically, when the ambient light intensity is high, the display brightness of the display screen 805 is increased; when the ambient light intensity is low, the display brightness of the display 805 is reduced. In another embodiment, the processor 801 may also dynamically adjust the shooting parameters of the camera assembly 806 based on the ambient light intensity collected by the optical sensor 815.
A proximity sensor 816, also known as a distance sensor, is typically provided on the front panel of the terminal 800. The proximity sensor 816 is used to collect the distance between the user and the front surface of the terminal 800. In one embodiment, when the proximity sensor 816 detects that the distance between the user and the front surface of the terminal 800 gradually decreases, the processor 801 controls the display 805 to switch from the bright screen state to the dark screen state; when the proximity sensor 816 detects that the distance between the user and the front surface of the terminal 800 becomes gradually larger, the display 805 is controlled by the processor 801 to switch from the breath-screen state to the bright-screen state.
Those skilled in the art will appreciate that the configuration shown in fig. 8 is not intended to be limiting of terminal 800 and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components may be used.
Embodiments of the present application further provide a non-transitory computer-readable storage medium, and when instructions in the storage medium are executed by a processor of a terminal, the terminal is enabled to execute the simulation method of the four-wheel steering system provided in the above embodiments.
Embodiments of the present application further provide a computer program product containing instructions, which when run on a terminal, causes the terminal to execute the simulation method of the four-wheel steering system provided in the foregoing embodiments.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, where the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.
The above description is only a preferred embodiment of the present application and should not be taken as limiting the present application, and any modifications, equivalents, improvements, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (10)
1. A method for simulating a four-wheel steering system, the method comprising:
the method comprises the steps that a steering rack part is created in a whole automobile model of an automobile through an ADASM application program of mechanical system dynamics automatic analysis, a four-wheel steering system model is built in an Amesim application program of a complex system modeling simulation platform in the multidisciplinary field, the whole automobile model is built according to the entity structure of the automobile, and the steering rack part is used for controlling the rear wheel steering of the automobile;
associating the entire vehicle model with the four-wheel steering system model in the Amesim application program according to the steering rack part;
and performing analog simulation on the four-wheel steering system of the automobile according to the whole automobile model and the four-wheel steering system model.
2. The method of claim 1, wherein the creating a steering rack portion in a full body model of a vehicle by an automated analysis of mechanical system dynamics (ADASM) application comprises:
the whole vehicle model is built in the ADASM application program;
a steering rack portion is created in a rear suspension model of the full vehicle model.
3. The method of claim 2, wherein creating a steering rack portion in a rear suspension model of the full car model comprises:
sequentially creating a rack housing portion and a rack portion of the steering rack portion;
fixing the gear shell part on a sub-frame model in the rear suspension model through a fixing pair;
establishing a sliding pair between the rack portion and the pinion housing portion;
establishing a constant velocity pair between the rack portion and a tie rod inner point model of the rear suspension model;
a bushing is established between the shell portion and the subframe model.
4. The method of claim 1, wherein said associating said full vehicle model with said four wheel steering system model in said Amesim application based on said steering rack portion comprises:
processing the whole vehicle model in the ADASM application program according to the steering rack part to obtain a first calling file corresponding to the whole vehicle model;
and in the Amesim application program, associating a first calling file corresponding to the whole vehicle model with the four-wheel steering system model.
5. The method of claim 4, wherein said processing said full vehicle model in said ADASM application program according to said steering rack portion to obtain a first call-up file corresponding to said full vehicle model comprises:
setting an input variable and an output variable of the whole vehicle model in the ADASM application program, wherein the output variable of the whole vehicle model is the input variable of the four-wheel steering system model, and the output variable of the whole vehicle model comprises a variable of the steering rack part;
creating a drive control file of the whole automobile model, wherein the drive control file is used for describing control parameters in the driving process of the automobile;
simulating the drive control file to obtain a second calling file with a specified format;
and exporting the whole vehicle model from the ADASM application program according to the second calling file to obtain the first calling file, wherein the file prefix of the first calling file is the same as the name of the second calling file.
6. The method of claim 4, wherein associating, in the Amesim application, a first call file corresponding to the entire vehicle model with the four-wheel steering system model comprises:
setting a standard communication module in the Amesim application program, wherein the standard communication module is a module for enabling all the functional modules to communicate;
compiling the first calling file through the Amesim application program to obtain a third calling file;
replacing the standard communication module with the third calling file to associate the third calling file with the four-wheel steering system model.
7. The method of any of claims 1-6, wherein prior to associating the full vehicle model with the four-wheel steering system model in the Amesim application according to the steering rack portion, further comprising:
externally connecting a vehicle body Electronic Stability Program (ESP) system model to the whole vehicle model, wherein the ESP system model is used for driving the whole vehicle model;
and setting a system state variable in the ADASM application program, wherein the system state variable is used for indicating that the variables of the parameters used in the ADASM application program and the Amesim application program are unified in a unit system.
8. An analog simulation apparatus of a four-wheel steering system, characterized in that the apparatus comprises:
the system comprises a building module, a control module and a control module, wherein the building module is used for building a steering rack part in a whole automobile model of an automobile through an ADASM application program of mechanical system dynamics automatic analysis, and building a four-wheel steering system model in an Amesim application program of a complex system modeling simulation platform in the multidisciplinary field, the whole automobile model is built according to the entity structure of the automobile, and the steering rack part is used for controlling the steering of the rear wheels of the automobile;
the association module is used for associating the whole vehicle model with the four-wheel steering system model in the Amesim application program according to the steering rack part;
and the simulation module is used for carrying out simulation on the four-wheel steering system of the automobile according to the whole automobile model and the four-wheel steering system model.
9. The apparatus of claim 8, wherein the building module comprises:
the construction submodule is used for constructing the whole vehicle model in the ADASM application program;
a creating sub-module for creating a steering rack portion in a rear suspension model of the full vehicle model.
10. A computer-readable storage medium having stored thereon instructions which, when executed by a processor, carry out the steps of the method of any of claims 1 to 7.
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